#include <erk_capi_types.h>

Public Attributes
long	current_step_status
	current step status, as a bitwise inclusive OR operator (\|) ER_CSTEP_STATUS_OK, ... More...

long	get_nxt_step_result
	current step status, get next step result 0-Ok, 1-need more data, 2-final step, target reached, <0 - error code More...

long	step_number
	counts the number of get next step More...

DFRAME	CartPos
	current cartesian TCP position w.r.t. Work Object More...

DFRAME	CartPosRBase
	current cartesian TCP position w.r.t. Robot Base More...

long	n_dof
	number of manipulator joints More...

double	JointPos [ER_KIN_DOFS]
	current joint position [rad,mm] More...

double	JointVel [ER_KIN_DOFS]
	current joint speed [rad/s,mm/s] More...

double	JointAcc [ER_KIN_DOFS]
	current joint acceleration [rad/s^2,mm/s^2] More...

long	Turns [ER_KIN_DOFS]
	current turn values depending on joint position and defined turn interval More...

long	n_dof_external
	number of external manipulator joints More...

double	JointPosExtAx [ER_EXTAX_KIN_DATA_MAX]
	current external axis joint position [rad,mm] More...

long	Configuration
	current manipulator configuration [1.. More...

TErTargetID	TargetID
	unique target identifier More...

TErTrackingWindowID	TrackingWindowID
	unique target identifier for Tracking Window More...

long	MotionType
	Motion Type ER_JOINT = ER_PTP = 1, ER_LIN = 2, ER_SLEW = 3, ER_CIRC = 4. More...

long	ExternalTcp
	IPO_MODE_BASE - enabled, IPO_MODE_TOOL - disabled More...

double	SpeedReduce
	If speed_reduction is enabled [0.0005..1], erSetSpeedReductionEnable() More...

double	OverrideSpeed
	Programmed Speed Override [0..100%]. More...

long	SyncOvSpeedReduceDiscrete
	Synchronized Override Discrete 0 - stopp motion , 1 - continue motion. More...

double	SyncOvSpeedReduceContinuous
	Synchronized Override resulted from automated Speed Reduction Continuous [0..1]. More...

double	SyncOvTrajScale
	Synchronized Override resulted from Trajectory scaling [0..1]. More...

double	TrajectoryTime_nominal
	nominal calculated trajectory time in [sec] More...

double	TrajectoryTime
	current trajectory time More...

double	TrajectoryTimeMoving
	current moving time, since motion starts More...

double	TrajectoryTimeRemaining
	current remaining time for the returned step, if 0, target reached More...

double	TrajectoryTimeDelay
	current trajectory time delay, >0 in case robot speed reductions More...

double	PathLength
	complete path length of current motion More...

double	PathLengthMoving
	moving path length, since motion starts More...

double	PathLengthRemaining
	Remaining path length until target reached. More...

double	Distance
	Euclidean distance between cartesian start and target position. More...

double	DistanceMoving
	moving euclidean distance, since motion starts More...

double	DistanceRemaining
	Remaining euclidean distance until target reached. More...

Member Data Documentation

◆ CartPos

DFRAME _CURRENT_STEP_DATA::CartPos

current cartesian TCP position w.r.t. Work Object

◆ CartPosRBase

DFRAME _CURRENT_STEP_DATA::CartPosRBase

current cartesian TCP position w.r.t. Robot Base

◆ Configuration

long _CURRENT_STEP_DATA::Configuration

current manipulator configuration [1..

◆ current_step_status

long _CURRENT_STEP_DATA::current_step_status

current step status, as a bitwise inclusive OR operator (|) ER_CSTEP_STATUS_OK, ...

◆ Distance

double _CURRENT_STEP_DATA::Distance

Euclidean distance between cartesian start and target position.

◆ DistanceMoving

double _CURRENT_STEP_DATA::DistanceMoving

moving euclidean distance, since motion starts

◆ DistanceRemaining

double _CURRENT_STEP_DATA::DistanceRemaining

Remaining euclidean distance until target reached.

◆ ExternalTcp

long _CURRENT_STEP_DATA::ExternalTcp

IPO_MODE_BASE - enabled, IPO_MODE_TOOL - disabled

◆ get_nxt_step_result

long _CURRENT_STEP_DATA::get_nxt_step_result

current step status, get next step result 0-Ok, 1-need more data, 2-final step, target reached, <0 - error code

◆ JointAcc

double _CURRENT_STEP_DATA::JointAcc[ER_KIN_DOFS]

current joint acceleration [rad/s^2,mm/s^2]

◆ JointPos

double _CURRENT_STEP_DATA::JointPos[ER_KIN_DOFS]

current joint position [rad,mm]

◆ JointPosExtAx

double _CURRENT_STEP_DATA::JointPosExtAx[ER_EXTAX_KIN_DATA_MAX]

current external axis joint position [rad,mm]

◆ JointVel

double _CURRENT_STEP_DATA::JointVel[ER_KIN_DOFS]

current joint speed [rad/s,mm/s]

◆ MotionType

long _CURRENT_STEP_DATA::MotionType

Motion Type ER_JOINT = ER_PTP = 1, ER_LIN = 2, ER_SLEW = 3, ER_CIRC = 4.

◆ n_dof

long _CURRENT_STEP_DATA::n_dof

number of manipulator joints

◆ n_dof_external

long _CURRENT_STEP_DATA::n_dof_external

number of external manipulator joints

◆ OverrideSpeed

double _CURRENT_STEP_DATA::OverrideSpeed

Programmed Speed Override [0..100%].

◆ PathLength

double _CURRENT_STEP_DATA::PathLength

complete path length of current motion

◆ PathLengthMoving

double _CURRENT_STEP_DATA::PathLengthMoving

moving path length, since motion starts

◆ PathLengthRemaining

double _CURRENT_STEP_DATA::PathLengthRemaining

Remaining path length until target reached.

◆ SpeedReduce

double _CURRENT_STEP_DATA::SpeedReduce

If speed_reduction is enabled [0.0005..1], erSetSpeedReductionEnable()

◆ step_number

long _CURRENT_STEP_DATA::step_number

counts the number of get next step

◆ SyncOvSpeedReduceContinuous

double _CURRENT_STEP_DATA::SyncOvSpeedReduceContinuous

Synchronized Override resulted from automated Speed Reduction Continuous [0..1].

◆ SyncOvSpeedReduceDiscrete

long _CURRENT_STEP_DATA::SyncOvSpeedReduceDiscrete

Synchronized Override Discrete 0 - stopp motion , 1 - continue motion.

◆ SyncOvTrajScale

double _CURRENT_STEP_DATA::SyncOvTrajScale

Synchronized Override resulted from Trajectory scaling [0..1].

◆ TargetID

TErTargetID _CURRENT_STEP_DATA::TargetID

unique target identifier

◆ TrackingWindowID

TErTrackingWindowID _CURRENT_STEP_DATA::TrackingWindowID

unique target identifier for Tracking Window

◆ TrajectoryTime

double _CURRENT_STEP_DATA::TrajectoryTime

current trajectory time

◆ TrajectoryTime_nominal

double _CURRENT_STEP_DATA::TrajectoryTime_nominal

nominal calculated trajectory time in [sec]

◆ TrajectoryTimeDelay

double _CURRENT_STEP_DATA::TrajectoryTimeDelay

current trajectory time delay, >0 in case robot speed reductions

◆ TrajectoryTimeMoving

double _CURRENT_STEP_DATA::TrajectoryTimeMoving

current moving time, since motion starts

◆ TrajectoryTimeRemaining

double _CURRENT_STEP_DATA::TrajectoryTimeRemaining

current remaining time for the returned step, if 0, target reached

◆ Turns

long _CURRENT_STEP_DATA::Turns[ER_KIN_DOFS]

current turn values depending on joint position and defined turn interval

The documentation for this struct was generated from the following file:

erk_capi_types.h

Public Attributes